Method of travel control, device and storage medium

ABSTRACT

The embodiments of the present disclosure provide a method of travel control, a device and a storage medium. In some exemplary embodiments of the present disclosure, a self-mobile device collects three-dimensional environment information on a travel path of itself in the travel process, identifies an obstacle area and a type thereof existing on the travel path of the self-mobile device based on the three-dimensional environment information, and the self-mobile device adopts different travel controls in a targeted manner for different types of the area, such that the obstacle avoidance performance of the self-mobile device is improved by adopting the method of the travel control in the present disclosure.

CROSS-REFERENCE TO RELATED APPLICATION

The present disclosure claims priority to Chinese Patent Application No.201811232109.2, entitled “Method of Travel Control, Device and StorageMedium”, filed on Oct. 22, 2018, which is incorporated herein byreference in its entirety.

TECHNICAL FIELD

The present disclosure relates to the technical field of artificialintelligence, and particularly to a method of travel control, a deviceand a storage medium.

BACKGROUND ART

In the process of floor sweeping, a floor sweeping robot needs to avoidobstacles for better cleaning.

The obstacle avoidance function of the floor sweeping robot is generallyimplemented by matching a distance sensor, for example, an infraredsensor, a laser sensor, an ultrasonic sensor and the like, with a springbaffle, where when the distance sensor detects that there is an obstacleon a front or the spring baffle touches an obstacle, the machine willreturn or bypass according to the control instruction of obstacleavoidance.

The subject matter claimed herein is not limited to embodiments thatsolve any disadvantages or that operate only in environments such asthose described above. Rather, this background is only provided toillustrate one example technology area where some embodiments describedherein may be practiced.

SUMMARY

This Summary is provided to introduce a selection of concepts in asimplified form that are further described below in the DetailedDescription of Example Embodiments. This Summary is not intended toidentify key features or essential characteristics of the claimedsubject matter, nor is it intended to be used as an aid in determiningthe scope of the claimed subject matter.

Various aspects of the present disclosure provide a method of travelcontrol of a self-mobile device, which solves the problem of inaccuratejudgment of an obstacle by the self-mobile device in the prior art andimproves the obstacle avoidance capability of the self-mobile device.

Embodiments of the present disclosure provide a method of travelcontrol, which is applicable to a self-mobile device and includes:

collecting three-dimensional environment information on a travel path ofthe self-mobile device;

identifying an obstacle area and a type thereof existing on the travelpath of the self-mobile device based on the three-dimensionalenvironment information;

performing travel control on the self-mobile device for the obstaclearea according to the type of the obstacle area.

The embodiments of the present disclosure further provide a self-mobiledevice, which includes: a mechanical body, where the mechanical body isprovided with an area array solid-state laser radar, one or moreprocessors and one or more memories for storing computer programs;

the area array solid-state laser radar is configured to collectthree-dimensional environment information on a travel path of theself-mobile device;

the one or more processors are configured to execute the computerprograms for:

identifying an obstacle area and a type thereof existing on the travelpath of the self-mobile device based on the three-dimensionalenvironment information; and

performing travel control on the self-mobile device for the obstaclearea according to the type of the obstacle area.

The embodiments of the present disclosure further provide acomputer-readable storage medium having stored thereon computer programsthat, when executed by one or more processors, cause the one or moreprocessors to perform actions including:

collecting three-dimensional environment information on a travel path ofa self-mobile device;

identifying an obstacle area and a type thereof existing on the travelpath of the self-mobile device based on the three-dimensionalenvironment information; and

performing travel control on the self-mobile device for the obstaclearea according to the type of the obstacle area.

In some exemplary embodiments of the present disclosure, the self-mobiledevice collects three-dimensional environment information on a travelpath of itself in the travel process, identifies an obstacle area and atype thereof existing on the travel path of the self-mobile device basedon the three-dimensional environment information, and the self-mobiledevice adopts different travel controls in a targeted manner fordifferent types of the area, such that the obstacle avoidanceperformance of the self-mobile device is improved by adopting the methodof the travel control in the present disclosure.

BRIEF DESCRIPTION OF THE DRAWINGS

The accompanying drawings are included to provide a furtherunderstanding of the present disclosure and are incorporated in andconstitute a part of the present disclosure, and the exemplaryembodiments of the present disclosure together with the descriptionserve to explain the present disclosure and are not to be construed asunduly limiting the present disclosure. In the accompanying drawings:

FIG. 1 is a flow diagram of a method of travel control according to anexemplary embodiment of the present disclosure;

FIG. 2 is a schematic illustration of a doorsill on a front of a floorsweeping robot according to an exemplary embodiment of the presentdisclosure;

FIG. 3 is a schematic illustration of an upper step on a front of afloor sweeping robot according to an exemplary embodiment of the presentdisclosure;

FIG. 4 is a schematic illustration of an upward slope on a front of afloor sweeping robot according to an exemplary embodiment of the presentdisclosure;

FIG. 5 is a schematic illustration of a gap that constrains a height ofa floor sweeping robot according to an exemplary embodiment of thepresent disclosure;

FIG. 6 is a schematic illustration of a gap that constrains a width of afloor sweeping robot according to an exemplary embodiment of the presentdisclosure;

FIG. 7 is a schematic illustration of a lower step on a front of a floorsweeping robot according to an exemplary embodiment of the presentdisclosure;

FIG. 8 is a schematic illustration of a downward slope on a front of afloor sweeping robot according to an exemplary embodiment of the presentdisclosure;

FIG. 9 is a block diagram of a self-mobile device according to anexemplary embodiment of the present disclosure;

FIG. 10 is a block diagram of a robot according to an exemplaryembodiment of the present disclosure.

DETAILED DESCRIPTION OF EXAMPLE EMBODIMENTS

The objectives, technical solution and advantages of the presentdisclosure will be more apparent from the following detailed descriptionof the technical solution of the present disclosure taken in conjunctionwith the specific embodiments and the accompanying drawings of thepresent disclosure. It is apparent that the embodiments described hereinare merely a part of embodiments of the present disclosure and not allof the embodiments. Based on the embodiments in the present disclosure,all other embodiments obtained by a person of ordinary skill in the artwithout involving any inventive effort are within the scope ofprotection of the present disclosure.

In the practical application of a household robot, it is necessary tomeasure and map obstacle information in the scene so as to effectivelyavoid obstacles and plan paths. Based on different sensors, there aretwo main obstacle avoidance methods for the existing robots: laserdirect structuring (LDS) technology and visual simultaneous localizationand mapping (Vslam) technology. Under the condition of incompletemapping, when an unknown obstacle is encountered, the robot needs tocarry out dynamic obstacle avoidance. In this situation, LDS can onlydetect the information of obstacles in one plane but cannot measure avertical direction, such that the machine body may easily drill into andjam in areas with narrow gaps, such as areas under a cabinet and a bed,causing unnecessary actions. Similarly, in this situation, the dataacquired by Vslam lack landmark information, thereby resulting in therobot's inaccurate judgment of obstacles.

To address some of the problems of existing floor sweeping robots incleaning floors, in some exemplary embodiments of described in thepresent disclosure, a self-mobile device may collect three-dimensionalenvironment information on a travel path of itself during the travelprocess, may identify an obstacle area and a type thereof existing onthe travel path of the self-mobile device based on the three-dimensionalenvironment information, and the self-mobile device may adopt differenttravel control in a targeted manner for different types of the area,such that the obstacle avoidance performance of the self-mobile deviceis improved by adopting the method of the travel control described inthe present disclosure.

The technical scheme provided by the embodiments of the presentdisclosure is described in detail below with reference to theaccompanying drawings.

FIG. 1 is a flow diagram of a method of travel control according to anexemplary embodiment of the present disclosure, and as shown in FIG. 1 ,the method includes:

S101: collecting three-dimensional environment information on a travelpath of the self-mobile device;

S102: identifying an obstacle area and a type thereof existing on thetravel path of the self-mobile device based on the three-dimensionalenvironment information;

S103: performing travel control on the self-mobile device for theobstacle area according to the type of the obstacle area.

The execution main body of the method in the embodiment of the presentdisclosure can be a self-mobile device such as an unmanned vehicle, arobot and the like, the types of the robot and the unmanned vehicle arenot limited, and the robot can be a floor sweeping robot, a followingrobot, a greeting robot and the like. Different devices acquirethree-dimensional environment information in corresponding workingenvironments aiming at different working environments, for example, afloor sweeping robot can acquire a three-dimensional environment imageof an area such as a living room, a kitchen, a toilet, a bedroom and thelike in the travel process during the sweeping process of a household;during the shopping guide process of a shopping guide robot in ashopping mall, the three-dimensional environment image of various areassuch as a pedestrian passageway, a shop and the like can be obtained inthe travel process; during the target following process of a followingrobot, three-dimensional environment information of the following targetand the surrounding environment in the advancing process can be obtainedin the travel process.

In some embodiments, three-dimensional environment information on atravel path of the self-mobile device may be collected in real time byinstalling an area array solid-state laser radar on the self-mobiledevice. The area array solid-state laser radar is a novel sensor that islow cost, is solidly constructed, and has a small form-factor. The areaarray solid-state laser radar may quickly and accurately obtain a largeamount of three-dimensional information, may well meet the requirementon information quantity in the positioning and mapping process, maydetect whether a constraint space formed by an obstacle on a front canbe passed or not when the area array solid-state laser radar is at acertain distance from the obstacle, and may avoid unnecessaryexploration and collision. The area array solid-state laser radar uses adiffraction beam splitting element to perform n*n beam splitting on anemitted laser beam, and a single beam splitting uses a triangularranging principle, namely: the emitted laser is collimated by a beamexpander and then irradiated to a target surface; a target echo signalreceived by a system is received; the central position of a scatteredlight spot is measured through a position sensing element; andmulti-beam splitting information is fused to obtain three-dimensionaldata information.

In the above-described embodiment, the obstacle area and the typethereof existing on the travel path of the self-mobile device areidentified based on the three-dimensional environment informationcollected by the area array laser radar from the travel path of theself-mobile device. Alternatively, based on the three-dimensionalenvironment information collected on the travel path of the self-mobiledevice, an abnormal area on the travel path of the self-mobile device isidentified as an obstacle area; and a type of the obstacle area isdetermined according to the abnormal state of the obstacle area relativeto a working plane. In the embodiment, when there is a certain distancefrom the obstacle, the obstacle area and the type of the obstacle areaare determined, and different travel controls are performed on theself-mobile device for different types of obstacle areas.

In the above and the following embodiments, the types of the obstacleareas may include at least the following three types: an area to beclimbed over, an area to be stepped down and an area to be traversed.The manner in which the type of each obstacle area is determined basedon the abnormal state of the obstacle area relative to the working planeis described below.

The method for determining the area to be climbed over: if there is anobstacle protruding out of the working plane in the obstacle area and nogap on the obstacle, the obstacle area may be determined to be an areato be climbed over. That is, there is an obstacle in the obstacle areathat may require the self-mobile device to climb over, for example: adoorsill (FIG. 2 is a schematic illustration of a doorsill on a front ofa floor sweeping robot in an exemplary embodiment of the presentdisclosure, and the direction indicated by an arrow is the traveldirection of the floor sweeping robot), and an upper step (FIG. 3 is aschematic illustration of an upper step on a front of a floor sweepingrobot in an exemplary embodiment of the present disclosure and thedirection indicated by an arrow is the travel direction of the floorsweeping robot), an upward slope (FIG. 4 is a schematic illustration ofan upward slope on a front of a floor sweeping robot in an exemplaryembodiment of the present disclosure, and the direction indicated by anarrow is the travel direction of the floor sweeping robot) and the like.

The method for determining the area to be stepped down: if there is asunken space lower than the working plane in the obstacle area, theobstacle area may be determined to be an area to be stepped down. Thatis, there is a sunken space in the obstacle area that may require theself-mobile device to step down to access another working plane, forexample: a lower step (FIG. 7 is a schematic illustration of a lowerstep on a front of a floor sweeping robot according to an exemplaryembodiment of the present disclosure, and the direction indicated by anarrow is the travel direction of the floor sweeping robot), a downwardslope (FIG. 8 is a schematic illustration of a downward slope on a frontof a floor sweeping robot according to an exemplary embodiment of thepresent disclosure, and the direction indicated by an arrow is thetravel direction of the floor sweeping robot), and the like.

The method for determining the area to be traversed: if there is a gapwith the same height as the working plane in the obstacle area, theobstacle area may be determined to be an area to be traversed. That is,there is a gap on the working plane of the obstacle area that mayrequire the self-mobile device to traverse, wherein the gap includes agap that constrains the height of the self-mobile device and a gap thatconstrains the width or length of the self-mobile device (FIG. 5 is agap that may constrain the height of a floor sweeping robot in anexemplary embodiment of the present disclosure). A gap that constrainsthe height of the self-mobile device may include: the bottom of a bed, acabinet, a table, a chair, a tea table, a sofa and the like, and a gapthat constrains the width or the length of the self-mobile device mayinclude a narrow corridor gap (FIG. 6 depicts a gap that may constrainthe width of a floor sweeping robot in an exemplary embodiment of thepresent disclosure), for example: gaps formed between various types offurniture (between a sofa and a tea table, between a bed and a cabinet,between a table and a chair, and the like), and gaps formed by theconstruction of the furniture itself (between chair legs, table legs,and the like).

In the actual working process of the self-mobile device, there may be anobstacle area of an area to be climbed over, an area to be stepped down,and an area to be traversed, or a combination of any two obstacle areasor three obstacle areas. For example, in the household sweeping processof a floor sweeping robot, when the floor sweeping robot enters abathroom from a living room, a doorway of the bathroom may be providedwith a doorsill with a protrusion, and the floor of the bathroom may belower than that of the living room, at which there are two obstacleareas, namely an area to be climbed over and an area to be stepped down.Combinations of other obstacle areas are also possible and envisioned.

After identifying the obstacle area and the type thereof existing on thetravel path, the self-mobile device is subjected to travel control forthe obstacle area according to the type of the obstacle area incombination with the relative size relationship between the self-mobiledevice and the obstacle area. The following describes the manner inwhich the corresponding travel control is performed on the self-mobiledevice for different types of obstacle areas.

When the type of the obstacle area is an area to be climbed over, theheight of the obstacle in the area to be climbed over is calculated; andaccording to the relationship between the height of the obstacle and afirst threshold value, travel control is carried out on the self-mobiledevice for the area to be climbed over. Alternatively, if the height ofthe obstacle is greater than or equal to the first threshold value, theself-mobile device is controlled to execute obstacle avoidanceoperation; and if the height of the obstacle is smaller than the firstthreshold value, the self-mobile device is controlled to climb over thearea to be climbed over. It should be noted that, in some embodiments,with the first threshold value less than or equal to the height of thebody of the self-mobile device from the working plane, obstacleavoidance operation performed for the self-mobile device can be tobypass the obstacle.

It should be noted that when the obstacle on a front is an upward slope,the relationship between the height of the slope and the first thresholdvalue can be used to perform travel control on the self-mobile devicefor the area to be climbed over. The relationship between theinclination angle of the slope and a third threshold value can also beused for performing travel control on the self-mobile device for thearea to be climbed over. The self-mobile device can also be subjected totravel control for the area to be climbed over by combining therelationship between the height of the slope and the first thresholdvalue with the relationship between the inclination angle of the slopeand the third threshold value. Various other specific embodimentsthereof are possible with reference to some simple variations of theforegoing specific embodiments.

When the self-mobile device needs to climb over the area to be climbedover, in order to improve the success rate of the self-mobile device toclimb over the obstacle, the self-mobile device may be controlled tospeed up to climb over the area to be climbed over. A first speedrequired by the self-mobile device to climb over an area to be climbedover may be calculated according to a preset travel speed of theself-mobile device and the height of an obstacle; the self-mobile devicemay be controlled to climb over the area to be climbed over at the firstspeed along the travel path. Alternatively, the first speed may be theproduct of the height of the obstacle, a preset travel speed of theself-mobile device, and a preset first speed coefficient. That is, thefirst speed may be determined as V1=h*a1*v, wherein h is the height ofthe obstacle; a1 is a speed coefficient which may be measuredexperimentally; v is the travel speed at which the self-mobile devicenormally operates. According to some embodiments of the presentdisclosure, the travel speed of the self-mobile device may be adaptivelyadjusted according to the height of the obstacle, and the self-mobiledevice may accelerate to climb over the obstacle, such that the fluencyof climbing over is increased. It will be apparent that the speed atwhich the self-mobile device climbs over an obstacle can be calculatedin other ways and that the self-mobile device can climb over theobstacle at its original speed.

When the type of the obstacle area is an area to be stepped down, thedepth of a sunken space in the area to be stepped down is calculated;and according to the relationship between the depth of the sunken spaceand a second threshold value, travel control may be carried out on theself-mobile device for the area to be stepped down. Alternatively, ifthe depth of the sunken space is greater than or equal to the secondthreshold value, an obstacle avoidance operation may be executed; and ifthe depth of the sunken space is less than the second threshold value,the self-mobile device may be controlled to step down to the area to bestepped down to continue working. In some embodiments, the secondthreshold may be less than or equal to the height of the body of theself-mobile device from a working plane. In particular, it may bepossible to perform travel control on the self-mobile device for thearea to be stepped down according to the relationship between thethree-dimensional information of the sunken space and thethree-dimensional information of the self-mobile device. Alternatively,the size relationship between the cross sectional area of the sunkenspace and the cross sectional area of the self-mobile device may becalculated, then the size relationship between the depth of the sunkenspace and the second threshold value may be calculated, and whether ornot the self-mobile device performs obstacle avoidance operation may bedetermined. For example, when there is a small pit that is much smallerthan the self-mobile device on a front of the self-mobile device, theself-mobile device may be controlled to continue to travel according toa preset travel path; when there is a sunken space that is much largerthan the self-mobile device on a front of the self-mobile device, thesize relationship between the depth of the sunken space and the secondthreshold value may be calculated to direct the self-mobile device toperform obstacle avoidance operation or steps down to the sunken spaceto continue working. When obstacle avoidance operations are performed bythe self-mobile device, the self-mobile device may bypass the sunkenspace and continue travelling.

It should be noted that when the sunken space on a front is a downwardslope, the relationship between the height of the slope and the secondthreshold value may be used to perform travel control on the self-mobiledevice for the area to be stepped down. The relationship between theinclination angle of the slope and a fourth threshold value may also beused for carrying out travel control on the self-mobile device for thearea to be stepped down. The self-mobile device can also be subjected totravel control on the area to be stepped down by combining therelationship between the height of the slope and the second thresholdvalue with the relationship between the inclination angle of the slopeand the fourth threshold value. Various other specific embodimentsthereof are possible with reference to some simple variations of theforegoing specific embodiments.

When the self-mobile device needs to step down to the area to be steppeddown, in order to improve the stability of the self-mobile devicestepping down to the area to be stepped down, the self-mobile device maybe controlled to reduce the speed to step down to the area to be steppeddown. A second speed of the self-mobile device to step down to the areato be stepped down may be calculated according to a preset travel speedof the self-mobile device and the depth of the sunken space; theself-mobile device may step down to the area to be stepped down at thesecond speed along the travel path. Alternatively, the second speed maybe the product of the reciprocal of the depth of the sunken space, apreset travel speed of the self-mobile device, and a preset second speedcoefficient. That is, the second speed may be determined asV2=(1/d)*a2*v, wherein d is the depth of the sunken space, a2 is a speedcoefficient which may be measured experimentally, and v is the travelspeed at which the self-mobile device normally operates. According tosome embodiments of the present disclosure, the travel speed of theself-mobile device may be adaptively adjusted according to the depth ofthe sunken space, and the self-mobile device may slow down and step downto the sunken space to continue working, such that the action fluency ofthe self-mobile device may be increased. The speed at which theself-mobile device steps down into the sunken space may also becalculated in other ways, and the self-mobile device may also step downinto the sunken space according to the original speed.

When the type of the obstacle area is an area to be traversed, theheight and the width of a gap in the area to be traversed may becalculated; and according to the relationship between the height and thewidth of the gap and the height of the body of the self-mobile device,travel control may be performed on the self-mobile device for the areato be traversed. Alternatively, if the width of the gap is greater thanthe width of the body of the self-mobile device, and the height of thegap is greater than the height of the body of the self-mobile device,the self-mobile device may be controlled to continue to travel throughthe area to be traversed according to the travel path; if at least oneof the conditions that the width of the gap is less than or equal to thewidth of the body of the self-mobile device, and the height of the gapis less than or equal to the height of the body of the self-mobiledevice is satisfied, an obstacle avoidance operation may be performed.That is, if the space of the gap is sufficient to allow the self-mobiledevice to pass through, the self-mobile device may pass through the gap,and otherwise, the self-mobile device may be controlled to perform anobstacle avoidance operation.

When the self-mobile device needs to traverse the area to be traversed,in order to improve the success rate of the self-mobile device totraverse the gap, the self-mobile device may be controlled to speed upto traverse the area to be traversed. A third speed at which theself-mobile device continues to travel through the area to be traversedaccording to the travel path may be calculated according to a presettravel speed of the self-mobile device and the width of the gap; theself-mobile device may continue to travel through the area to betraversed at the third speed along the travel path. Alternatively, thethird speed may be a product of the width of the gap, a preset travelspeed of the self-mobile device, and a preset third speed coefficient.That is, the third speed may be calculated as V3=b*a3*v, wherein b isthe width or height of the gap and a3 is a speed coefficient which maybe measured experimentally; v is the travel speed at which theself-mobile device normally operates. According to some embodiments ofthe present disclosure, the travel speed of the self-mobile device maybe adaptively adjusted according to the height and width information ofthe gap, and the self-mobile device may accelerate to pass through thegap, such that the action fluency of the self-mobile device may beincreased. The speed at which the self-mobile device traverses the gapmay also be calculated in other ways, and the self-mobile device mayalso traverse the gap at the original rate.

The method of the travel control of the present disclosure is describedbelow in connection with embodiments of different scenarios.

Application Scenario 1: in a driving scene of an unmanned vehicle, theunmanned vehicle utilizes an area array solid-state laser radarinstalled on the body of the unmanned vehicle to collect road surfaceinformation on a travel path in real time. When there are trees fallingon the road surface on the travel path of the unmanned vehicle, theunmanned vehicle may obtain three-dimensional information of the treeson the road surface ahead through the area array solid-state laserradar, may obtain an abnormal state on the road surface throughanalysis, may determine that the area on the road surface ahead is anobstacle area and an obstacle protruding out of the road surface existsin the obstacle area, may determine the obstacle area to be an area tobe climbed over, and may calculate the height of the trees falling onthe road surface. If the height of the fallen trees on the road surfaceis greater than or equal to the threshold value, which may be the heightof the vehicle body of the unmanned vehicle, the unmanned vehicle may becontrolled to retreat and re-plan a travel path. The unmanned vehiclemay be controlled to climb over the trees if the height of the fallentrees on the road surface is less than the threshold value, which may bethe height of the vehicle body of the unmanned vehicle. When theunmanned vehicle is controlled to climb over the trees, in order toimprove the smooth climbing over the trees by the unmanned vehicle, theunmanned vehicle may be controlled to speed up to climb over the treeson the road surface ahead, and the speed at which the unmanned vehicleclimbs over the trees may be the product of the height of the fallentrees, a preset travel speed of the unmanned vehicle and a preset speedcoefficient.

Application Scenario 2: in a floor cleaning scene of a floor sweepingrobot, the floor sweeping robot may collect floor information on atravel path in real time by using an area array solid-state laser radarinstalled on a front of the mechanical body of the floor sweeping robotto obtain three-dimensional information on the floor. When there is achair on the travel path on a front of the floor sweeping robot, thefloor sweeping robot may obtain the three-dimensional information of thechair on the road surface ahead through the area array solid-state laserradar, may obtain an abnormal state on the floor ahead through analysis,may determine an area on the floor ahead as an obstacle area with a gapformed below the chair, may determine the obstacle area to be an area tobe traversed, and may calculate the height and the width of the gapbelow the chair. The floor sweeping robot may be controlled to continueto travel into the area below the chair according to the travel path tocontinue sweeping work if the width of the gap below the chair isgreater than the width of the floor sweeping robot and the height of thegap below the chair is greater than the height of the floor sweepingrobot. The floor sweeping robot may be controlled to continue to sweeparound the chair when at least one of the conditions that the width ofthe gap below the chair is less than or equal to the width of the floorsweeping robot and the height of the gap is less than or equal to thetotal height of the floor sweeping robot is satisfied. When the heightof the gap below the chair is far greater than the total height of thefloor sweeping robot, and the width below the chair is greater than thewidth of the floor sweeping robot, the floor sweeping robot is directedto traverse the gap below the chair, in order to improve the successrate of the floor sweeping robot in traversing the gap, the floorsweeping robot may be controlled to speed up to traverse the gap belowthe chair. And the speed of the floor sweeping robot passing through thegap below the chair may be the product of the width of the gap, a presettravel speed of the floor sweeping robot and a preset speed coefficient.

Application Scenario 3: in a shopping guide scene of a shopping guiderobot in a shopping mall, the shopping guide robot may collect groundinformation on a travel path in real time by using an area arraysolid-state laser radar installed on the mechanical body of the shoppingguide robot to obtain three-dimensional information on the ground. Whenthere is a lower step on the travel path on a front of the shoppingguide robot, the shopping guide robot may acquire the three-dimensionalinformation of the lower step on the road surface ahead through the areaarray solid-state laser radar, may obtain an abnormal state on theground ahead through analysis, may determine that the area ahead theground is an obstacle area, may determine that a sunken space lower thanthe ground exists in the obstacle area, may determines the obstacle areato be an area to be stepped down, and may calculate the depth of thesunken space. The shopping guide robot may be controlled to bypass ifthe depth of the sunken space is greater than or equal to a threshold,which may be the height of the mechanical body of the shopping guiderobot. The shopping guide robot may be controlled to step down to theground below the step to continue working if the depth of the sunkenspace is less than the threshold, which may be the height of themechanical body of the shopping guide robot. When the shopping guiderobot is directed to step down to the area to be stepped down, in orderto improve the stability of the shopping guide robot stepping down tothe sunken space below the step, the shopping guide robot may becontrolled to reduce the speed to step down to the sunken space belowthe step. The speed of the shopping guide robot stepping down to thesunken space below the step may be the product of the reciprocal of thedepth of the sunken space, a preset travel speed of the shopping guiderobot and a preset speed coefficient.

FIG. 9 is a block diagram of a self-mobile device according to anexemplary embodiment of the present disclosure. The self-mobile devicemay include one or more processors 902 and one or more memories 903storing computer programs and a sensor 905. The sensor 905 may be anarea array solid-state laser radar and may be configured to collectthree-dimensional environment information on a travel path of aself-mobile device. In some embodiments, additional components such asan audio component 901, a power component 904, etc. may also beincluded. The one or more processors 902 may be configured to executethe computer programs for:

collecting three-dimensional environment information on a travel path ofthe self-mobile device;

identifying an obstacle area and a type thereof existing on the travelpath of the self-mobile device based on the three-dimensionalenvironment information; and

performing travel control on the self-mobile device for the obstaclearea according to the type of the obstacle area.

Alternatively, the one or more processors 902, based on thethree-dimensional environment information, may identify obstacle areasand types thereof existing on a travel path of the self-mobile deviceby: identifying an abnormal area on the travel path of the self-mobiledevice as an obstacle area based on the three-dimensional environmentinformation; and determining the type of the obstacle area according tothe abnormal state of the obstacle area relative to a working plane.

Alternatively, the one or more processors 902 may determine the type ofobstacle area based on the abnormal state of the obstacle area relativeto the working plane by: determining the obstacle area to be an area tobe climbed over if an obstacle protruding out of the working planeexists in the obstacle area; determining the obstacle area to be an areato be stepped down if a sunken space lower than the working plane existsin the obstacle area; and determining the obstacle area to be an area tobe traversed if a gap with the same height as the working plane existsin the obstacle area.

Alternatively, the one or more processors 902 may perform travel controlon the self-mobile device according to the type of the obstacle area by:performing travel control on the self-mobile device for the obstaclearea according to the type of the obstacle area in combination with therelative size relationship between the self-mobile device and theobstacle area.

Alternatively, the one or more processors 902 may perform travel controlon the self-mobile device based on the type of the obstacle area and therelative size relationship between the self-mobile device and theobstacle area by: calculating the height of the obstacle in the area tobe climbed over if the type of the obstacle area is an area to beclimbed over; and carrying out travel control on the self-mobile devicefor the area to be climbed over based on the relationship between theheight of the obstacle and a first threshold value, wherein the firstthreshold value is less than or equal to the height of the body of theself-mobile device from the working plane.

Alternatively, the one or more processors 902 may perform travel controlon the self-mobile device for the area to be climbed over according tothe relationship between the height of the obstacle and the height ofthe body of the self-mobile device by: controlling the self-mobiledevice to execute an obstacle avoidance operation if the height of theobstacle is greater than or equal to the first threshold value; andcontrolling the self-mobile device to climb over the area to be climbedover if the height of the obstacle is less than the first thresholdvalue.

Alternatively, the one or more processors 902 may perform travel controlon the self-mobile device for the obstacle area based on, the type ofthe obstacle area in combination with the relative size relationship ofthe self-mobile device and the obstacle area by: calculating the depthof the sunken space in the area to be stepped down if the type of theobstacle area is an area to be stepped down; and carrying out travelcontrol on the self-mobile device aiming at the area to be jumped downbased on the relationship between the depth of the sunken space and asecond threshold value, wherein the second threshold value is smallerthan or equal to the height of the body of the self-mobile device fromthe working plane.

Alternatively, the one or more processors 902 may perform travel controlon the self-mobile device for the area to be stepped down according tothe relationship between the depth of the sunken space and the secondthreshold value by: executing an obstacle avoidance operation if thedepth of the sunken space is greater than or equal to the secondthreshold value; and controlling the self-mobile device to step down tothe area to be stepped down to continue working if the depth of thesunken space is less than the second threshold value.

Alternatively, the one or more processors 902 may perform travel controlon the self-mobile device for the obstacle area based on the type of theobstacle area in combination with the relative size relationship of theself-mobile device and the obstacle area by: calculating the height andthe width of a gap in the area to be traversed if the type of theobstacle area is an area to be traversed; and carrying out travelcontrol on the self-mobile device aiming at the area to be traversedaccording to the relationship between the height and the width of thegap and the height of the body of the self-mobile device.

Alternatively, the one or more processors 902 may perform travel controlon the self-mobile device for the area to be traversed according to therelationship between the height and width of the gap and the height ofthe body of the self-mobile device by: controlling the self-mobiledevice to continuously travel through the area to be traversed accordingto the travel path if the width of the gap is greater than the width ofthe body of the self-mobile device and the height of the gap is greaterthan the height of the body of the self-mobile device; performing anobstacle avoidance operation if at least one of the conditions that thewidth of the gap is less than or equal to the width of the body of theself-mobile device, and the height of the gap is less than or equal tothe height of the body of the self-mobile device is satisfied.

According to some embodiments of the present disclosure, the self-mobiledevice may collect three-dimensional environment information on a travelpath of itself in the travel process, identify obstacle areas and typesthereof existing on the travel path of the self-mobile device based onthe three-dimensional environment information, and adopt differenttravel controls in a targeted manner for different types of the areas,such that the obstacle avoidance performance of the self-mobile devicemay be improved by adopting the method of the travel control in thepresent disclosure.

Accordingly, the embodiments of the present disclosure further provide acomputer-readable storage medium having computer programs storedthereon. The computer-readable storage medium stores computer programswhich, when executed by the one or more processors 902, cause the one ormore processors 902 to accordingly perform the steps in the embodimentof the method shown in FIG. 1 .

The self-mobile device may be a robot, an unmanned vehicle and the like.FIG. 10 is a block diagram of a robot according to an exemplaryembodiment of the present disclosure. As shown in FIG. 10 , the robotmay include: a mechanical body 1001. The mechanical body 1001 mayinclude one or more processors 1003 and one or more memories 1004 forstoring computer instructions. In addition, the mechanical body 1001 mayfurther include a sensor 1002. The sensor 1002 may be an area arraysolid-state laser radar and may be configured to collectthree-dimensional environment information on a travel path of theself-mobile device in the robot working process.

In some embodiments, the mechanical body 1001 may include, in additionto the one or more processors 1003 and the one or more memories 1004,some basic components of a robot, such as an audio component, a powercomponent, an odometer, a driving component, etc. The audio componentmay be configured to output and/or input audio signals. For example, theaudio component may include a microphone (MIC) configured to receiveexternal audio signals when the device in which the audio component islocated is in an operational mode, such as a call mode, a record mode,and a voice recognition mode. The received audio signals may be furtherstored in the memories 1004 or transmitted via a communicationcomponent. In some embodiments, the audio component may further includea speaker for outputting audio signals. The sensor 1002 may furtherinclude a dryness and humidity sensor 1002 or the like. Alternatively,the driving component may include driving wheels, a driving motor,universal wheels, etc. Alternatively, a cleaning component may include acleaning motor, a cleaning brush, a dusting brush, a dust collectionfan, etc. The basic components and the composition of the basiccomponents contained in different robots are different, and only part ofthe examples are presented in the embodiments of the present disclosure.

It should be noted that in some embodiments, the audio component, thesensor 1002, the one or more processors 1003, and the one or morememories 1004 may be provided within or on a surface of the mechanicalbody 1001.

In some embodiments, the mechanical body 1001 may be an executionmechanism by which the robot performs a task, which can execute theoperations specified by the processors 1003 in a certain environment. Insome embodiments, the mechanical body may reflect the appearance of arobot to some extent. In the embodiment, the appearance of the robot isnot limited, and may be, for example, a circle, an ellipse, a triangle,a convex polygon, etc.

The one or more memories 1004 may be primarily configured to storecomputer programs that, when executed by the one or more processors1003, cause the one or more processors 1003 to perform travel controloperations on the self-mobile device. In addition to storing computerprograms, the one or more memories 1004 may be configured to storevarious other data to support operations on the robot.

The one or more processors 1003, which may be considered the controlsystem of the robot, may be configured to execute the computer programsstored in the one or more memories 1004 to perform travel controloperations on the self-mobile device.

The processors 1003 may execute computer programs stored, for example,in the one or more memories 1004, for:

collecting three-dimensional environment information on a travel path ofthe self-mobile device;

identifying an obstacle area and a type thereof existing on the travelpath of the self-mobile device based on the three-dimensionalenvironment information;

performing travel control on the self-mobile device for the obstaclearea according to the type of the obstacle area.

Alternatively, the one or more processors 1003 may identify obstacleareas and types thereof existing on the travel path of the self-mobiledevice based on the three-dimensional environment information by:identifying an abnormal area on the travel path of the self-mobiledevice as an obstacle area based on the three-dimensional environmentinformation; and determining the type of the obstacle area according tothe abnormal state of the obstacle area relative to a working plane.

Alternatively, the one or more processors 1003 may determine the type ofthe obstacle area based on the abnormal state of the obstacle arearelative to the working plane by: determining the obstacle area to be anarea to be climbed over if there is an obstacle protruding out of theworking plane in the obstacle area; determining the obstacle area to bean area to be stepped down if there is a sunken space lower than theworking plane in the obstacle area; and determining the obstacle area tobe an area to be traversed if there is a gap with the same height as theworking plane in the obstacle area.

Alternatively, the one or more processors 1003 may perform travelcontrol on the self-mobile device for the obstacle area according to thetype of the obstacle area by: performing travel control on theself-mobile device for the obstacle area based on the type of theobstacle area in combination with the relative size relationship betweenthe self-mobile device and the obstacle area.

Alternatively, the one or more processors 1003 may perform travelcontrol on the self-mobile device for the obstacle area based on thetype of the obstacle area in combination with the relative sizerelationship of the self-mobile device and the obstacle area by:calculating the height of the obstacle in the area to be climbed over ifthe type of the obstacle area is an area to be climbed over; andperforming travel control on the self-mobile device for the area to beclimbed according to the relationship between the height of the obstacleand a first threshold value, wherein the first threshold value is lessthan or equal to the height of the body of the self-mobile device fromthe working plane.

Alternatively, the one or more processors 1003 may perform travelcontrol on the self-mobile device for the area to be climbed overaccording to the relationship between the height of the obstacle and theheight of the body of the self-mobile device by: controlling theself-mobile device to execute obstacle avoidance operation if the heightof the obstacle is greater than or equal to the first threshold value;and controlling the self-mobile device to climb over the area to beclimbed over if the height of the obstacle is smaller than the firstthreshold value.

Alternatively, the one or more processors 1003 may perform travelcontrol on the self-mobile device for the obstacle area according to thetype of the obstacle area in combination with the relative sizerelationship of the self-mobile device and the obstacle area by:calculating the depth of the sunken space in the area to be stepped downif the type of the obstacle area is an area to be stepped down; andperforming travel control on the self-mobile device for the area to bestepped down according to the relationship between the depth of thesunken space and a second threshold value, wherein the second thresholdvalue is less than or equal to the height of the body of the self-mobiledevice from the working plane.

Alternatively, the one or more processors 1003 may perform travelcontrol on the self-mobile device for the area to be stepped down basedon the relationship between the depth of the sunken space and the secondthreshold by: executing obstacle avoidance operation if the depth of thesunken space is greater than or equal to the second threshold value; andcontrolling the self-mobile device to step down to the area to bestepped down to continue working if the depth of the sunken space isless than the second threshold value.

Alternatively, the one or more processors 1003 may perform travelcontrol on the self-mobile device for the obstacle area according to thetype of the obstacle area in combination with the relative sizerelationship of the self-mobile device and the obstacle area by:calculating the height and the width of a gap in the area to betraversed if the type of the obstacle area is an area to be traversed;and performing travel control on the self-mobile device for the area tobe traversed according to the relation between the height and the widthof the gap and the height of the body of the self-mobile device.

Alternatively, the one or more processors 1003 may perform travelcontrol on the self-mobile device for the area to be traversed accordingto the relationship between the height and width of the gap and theheight of the body of the self-mobile device by: controlling theself-mobile device to continuously travel through the area to betraversed according to the travel path if the width of the gap isgreater than the width of the body of the self-mobile device, and theheight of the gap is greater than the height of the body of theself-mobile device; performing an obstacle avoidance operation if atleast one of the conditions that the width of the gap is less than orequal to the width of the body of the self-mobile device and the heightof the gap is less than or equal to the height of the body of theself-mobile device is satisfied.

In the robot embodiments of the present disclosure, the self-mobiledevice may collect three-dimensional environment information on a travelpath of itself in the travel process, identify the obstacle area and thetype thereof existing on the travel path of the self-mobile device basedon the three-dimensional environment information, and adopt differenttravel controls in a targeted manner for different types of the area,such that the obstacle avoidance performance of the self-mobile devicemay be improved by adopting the method of the travel control in thepresent disclosure.

Accordingly, the embodiments of the present disclosure further provide acomputer-readable storage medium having computer programs storedthereon. The computer-readable storage medium stores computer programswhich, when executed by the one or more processors 1003, cause the oneor more processors 1003 to accordingly perform the steps in theembodiment of the method shown in FIG. 1 .

The present disclosure is described with reference to the flow diagramsand/or block diagrams of the methods, device (systems), and computerprogram products according to the embodiments of the present disclosure.It is to be understood that each flow and/or block of the flow diagramsand/or block diagrams, and combinations of flows and/or blocks in theflow diagrams and/or block diagrams, can be implemented by computerprogram instructions. These computer program instructions may beprovided to a processor of a general-purpose computer, a special-purposecomputer, an embedded processor, or other programmable data processingdevices to generate a machine, such that the instructions, when executedvia the processor of the computer or other programmable data processingdevices, generate means for implementing the functions specified in oneflow or more flows in the flow diagrams and/or one block or more blocksin the block diagram.

These computer program instructions may also be stored in acomputer-readable memory that can direct a computer or otherprogrammable data processing devices to function in a particular manner,such that the instructions stored in the computer-readable memorygenerate a manufactured product including instruction means whichimplement the function specified in one flow or more flows in the flowdiagrams and/or one block or more blocks in the block diagrams.

These computer program instructions may further be loaded onto acomputer or other programmable data processing devices to cause a seriesof operational steps to be performed on the computer or otherprogrammable devices to generate a computer implemented process suchthat the instructions which are executed on the computer or otherprogrammable devices provide steps for implementing the functionsspecified in one flow or more flows in the flow diagrams and/or oneblock or more blocks in the block diagrams.

In a typical configuration, a computing device includes one or moreprocessors (CPUs), input/output interfaces, network interfaces, andmemories.

The memories may include non-volatile memory, random access memory(RAM), and/or non-volatile memory, etc. in computer-readable media, suchas read only memory (ROM) or flash RAM. The memories are an example ofthe computer-readable medium.

The computer-readable medium, including both non-volatile and volatilemedia, removable and non-removable media, may implement informationstorage by any method or technique. The information may becomputer-readable instructions, data structures, modules of a program,or other data. Examples of a computer storage medium include, but arenot limited to, phase change memory (PRAM), static random access memory(SRAM), dynamic random access memory (DRAM), other types of randomaccess memory (RAM), read only memory (ROM), electrically erasableprogrammable read only memory (EEPROM), flash memory or other memorytechnology, compact disc read only memory (CD-ROM), digital versatiledisk (DVD) or other optical storage, magnetic cassettes, magnetictape-magnetic disk storage or other magnetic storage devices, or anyother non-transmission medium, or any other medium that can beconfigured to store information that can be accessed by the computingdevice. As defined herein, the computer-readable medium does not includetransitory computer-readable media (transitory media), such as modulateddata signals and carrier waves.

It should also be noted that the terms “comprise”, “include”, or anyother variation thereof, are intended to cover a non-exclusiveinclusion, such that a process, method, article, or device thatcomprises a list of elements does not include only those elements butmay include other elements not expressly listed or inherent to suchprocess, method, article, or device. An element defined by the phrase“comprises a” does not, without more constraints, preclude the existenceof additional identical elements in the process, method, article, ordevice that comprises such element.

The foregoing is by way of example only and is not intended to limit thepresent disclosure. Those skilled in the art may make variousmodifications and variations to the present disclosure. Anymodifications, equivalents, improvements, etc. that come within thespirit and principles of the present disclosure shall fall within thescope of the claims appended hereto.

In accordance with common practice, the various features illustrated inthe drawings may not be drawn to scale. The illustrations presented inthe present disclosure are not meant to be actual views of anyparticular apparatus (e.g., device, system, etc.) or method, but aremerely idealized representations that are employed to describe variousembodiments of the disclosure. Accordingly, the dimensions of thevarious features may be arbitrarily expanded or reduced for clarity. Inaddition, some of the drawings may be simplified for clarity. Thus, thedrawings may not depict all of the components of a given apparatus(e.g., device) or all operations of a particular method.

Terms used in the present disclosure and especially in the appendedclaims (e.g., bodies of the appended claims) are generally intended as“open” terms (e.g., the term “including” should be interpreted as“including, but not limited to,” the term “having” should be interpretedas “having at least,” the term “includes” should be interpreted as“includes, but is not limited to,” etc.).

Additionally, if a specific number of an introduced claim recitation isintended, such an intent will be explicitly recited in the claim, and inthe absence of such recitation no such intent is present. For example,as an aid to understanding, the following appended claims may containusage of the introductory phrases “at least one” and “one or more” tointroduce claim recitations. However, the use of such phrases should notbe construed to imply that the introduction of a claim recitation by theindefinite articles “a” or “an” limits any particular claim containingsuch introduced claim recitation to embodiments containing only one suchrecitation, even when the same claim includes the introductory phrases“one or more” or “at least one” and indefinite articles such as “a” or“an” (e.g., “a” and/or “an” should be interpreted to mean “at least one”or “one or more”); the same holds true for the use of definite articlesused to introduce claim recitations.

In addition, even if a specific number of an introduced claim recitationis explicitly recited, such recitation should be interpreted to mean atleast the recited number (e.g., the bare recitation of “tworecitations,” without other modifiers, means at least two recitations,or two or more recitations). Furthermore, in those instances where aconvention analogous to “at least one of A, B, and C, etc.” or “one ormore of A, B, and C, etc.” is used, in general such a construction isintended to include A alone, B alone, C alone, A and B together, A and Ctogether, B and C together, or A, B, and C together, etc. For example,the use of the term “and/or” is intended to be construed in this manner.

Further, any disjunctive word or phrase presenting two or morealternative terms, whether in the description, claims, or drawings,should be understood to contemplate the possibilities of including oneof the terms, either of the terms, or both terms. For example, thephrase “A or B” should be understood to include the possibilities of “A”or “B” or “A and B.”

Additionally, the use of the terms “first,” “second,” “third,” etc., arenot necessarily used in the present disclosure to connote a specificorder or number of elements. Generally, the terms “first,” “second,”“third,” etc., are used to distinguish between different elements asgeneric identifiers. Absence a showing that the terms “first,” “second,”“third,” etc., connote a specific order, these terms should not beunderstood to connote a specific order. Furthermore, absence a showingthat the terms first,” “second,” “third,” etc., connote a specificnumber of elements, these terms should not be understood to connote aspecific number of elements. For example, a first widget may bedescribed as having a first side and a second widget may be described ashaving a second side. The use of the term “second side” with respect tothe second widget may be to distinguish such side of the second widgetfrom the “first side” of the first widget and not to connote that thesecond widget has two sides.

All examples and conditional language recited herein are intended forpedagogical objects to aid the reader in understanding the presentdisclosure and the concepts contributed by the inventor to furtheringthe art, and are to be construed as being without limitation to suchspecifically recited examples and conditions. Although embodiments ofthe present disclosure have been described in detail, it should beunderstood that the various changes, substitutions, and alterationscould be made hereto without departing from the spirit and scope of thepresent disclosure.

What is claimed is:
 1. A method of travel control, applicable to aself-mobile device, wherein the method comprises: collectingthree-dimensional environment information on a travel path of theself-mobile device; identifying an obstacle area and a type thereofexisting on the travel path of the self-mobile device based on thethree-dimensional environment information; and performing travel controlon the self-mobile device for the obstacle area according to the type ofthe obstacle area; wherein the performing travel control on theself-mobile device for the obstacle area according to the type of theobstacle area comprises: performing the travel control on theself-mobile device for the obstacle area according to the type of theobstacle area in combination with a relative size relationship betweenthe self-mobile device and the obstacle area; wherein the performing thetravel control on the self-mobile device for the obstacle area accordingto the type of the obstacle area in combination with the relative sizerelationship between the self-mobile device and the obstacle areacomprises: if the type of the obstacle area is an area to be traversed,calculating a height and a width of a gap in the area to be traversed;and performing the travel control on the self-mobile device for the areato be traversed according to a relationship between the height and thewidth of the gap and a height of a body of the self-mobile device. 2.The method according to claim 1, wherein the identifying the obstaclearea and the type thereof existing on the travel path of the self-mobiledevice based on the three-dimensional environment information comprises:identifying an abnormal area on the travel path of the self-mobiledevice as the obstacle area based on the three-dimensional environmentinformation; and determining a type of the obstacle area according to anabnormal state of the obstacle area relative to a working plane.
 3. Themethod according to claim 2, wherein the determining the type of theobstacle area according to the abnormal state of the obstacle arearelative to the working plane comprises: if an obstacle protruding outof the working plane exists in the obstacle area, determining theobstacle area to be an area to be climbed over; if a sunken space lowerthan the working plane exists in the obstacle area, determining theobstacle area to be an area to be stepped down; and if a gap with a sameheight as the working plane exists in the obstacle area, determining theobstacle area to be an area to be traversed.
 4. The method according toclaim 1, wherein the performing the travel control on the self-mobiledevice for the obstacle area according to the type of the obstacle areain combination with the relative size relationship between theself-mobile device and the obstacle area comprises: if the type of theobstacle area is an area to be climbed over, calculating a height of anobstacle in the area to be climbed over; and performing the travelcontrol on the self-mobile device for the area to be climbed overaccording to a relationship between the height of the obstacle and afirst threshold value, wherein the first threshold value is smaller thanor equal to a height of a body of the self-mobile device from a workingplane.
 5. The method according to claim 4, wherein the performing thetravel control on the self-mobile device for the area to be climbed overaccording to the relationship between the height of the obstacle and thefirst threshold value comprises: if the height of the obstacle isgreater than or equal to the first threshold value, controlling theself-mobile device to execute an obstacle avoidance operation; and ifthe height of the obstacle is smaller than the first threshold value,controlling the self-mobile device to climb over the area to be climbedover.
 6. The method according to claim 1, wherein the performing thetravel control on the self-mobile device for the obstacle area accordingto the type of the obstacle area in combination with the relative sizerelationship between the self-mobile device and the obstacle areacomprises: if the type of the obstacle area is an area to be steppeddown, calculating a depth of a sunken space in the area to be steppeddown; and performing the travel control on the self-mobile device forthe area to be stepped down according to a relationship between thedepth of the sunken space and a second threshold value, wherein thesecond threshold value is smaller than or equal to a height of a body ofthe self-mobile device from a working plane.
 7. The method according toclaim 6, wherein the performing the travel control on the self-mobiledevice for the area to be stepped down according to the relationshipbetween the depth of the sunken space and the second threshold valuecomprises: if the depth of the sunken space is greater than or equal tothe second threshold value, executing an obstacle avoidance operation;and if the depth of the sunken space is less than the second thresholdvalue, controlling the mobile device to step down to the area to bestepped down to continue working.
 8. The method according to claim 1,wherein the performing the travel control on the self-mobile device forthe area to be traversed according to the relationship between theheight and the width of the gap and the height of the body of theself-mobile device comprises: if the width of the gap is greater thanthe width of the body of the self-mobile device and the height of thegap is greater than the height of the body of the self-mobile device,controlling the self-mobile device to continuously travel through thearea to be traversed in accordance with the travel path; and if at leastone of the width of the gap being less than or equal to the width of thebody of the self-mobile device and the height of the gap being less thanor equal to the height of the body of the self-mobile device issatisfied, executing an obstacle avoidance operation.
 9. A self-mobiledevice, comprising: a mechanical body, wherein the mechanical body isprovided with an area array solid-state laser radar, one or moreprocessors and one or more memories for storing computer programs;wherein the area array solid-state laser radar is configured to collectthree-dimensional environment information on a travel path of theself-mobile device; wherein the one or more processors are configured toexecute the computer programs for: identifying an obstacle area and atype thereof existing on the travel path of the self-mobile device basedon the three-dimensional environment information; and performing travelcontrol on the self-mobile device for the obstacle area according to thetype of the obstacle area; wherein the performing travel control on theself-mobile device for the obstacle area according to the type of theobstacle area comprises: performing the travel control on theself-mobile device for the obstacle area according to the type of theobstacle area in combination with a relative size relationship betweenthe self-mobile device and the obstacle area; wherein the performing thetravel control on the self-mobile device for the obstacle area accordingto the type of the obstacle area in combination with the relative sizerelationship between the self-mobile device and the obstacle areacomprises: if the type of the obstacle area is an area to be traversed,calculating a height and a width of a gap in the area to be traversed;and performing the travel control on the self-mobile device for the areato be traversed according to a relationship between the height and thewidth of the gap and a height of a body of the self-mobile device. 10.The self-mobile device according to claim 9, wherein the self-mobiledevice is a floor sweeping robot and the area array solid state laserradar is disposed on a front of the mechanical body.
 11. Acomputer-readable storage medium having computer programs stored thereonthat, when executed by one or more processors, cause the one or moreprocessors to perform actions comprising: collecting three-dimensionalenvironment information on a travel path of a self-mobile device;identifying an obstacle area and a type thereof existing on the travelpath of the self-mobile device based on the three-dimensionalenvironment information; and performing travel control on theself-mobile device for the obstacle area according to the type of theobstacle area; wherein the performing travel control on the self-mobiledevice for the obstacle area according to the type of the obstacle areacomprises: performing the travel control on the self-mobile device forthe obstacle area according to the type of the obstacle area incombination with a relative size relationship between the self-mobiledevice and the obstacle area; wherein the performing the travel controlon the self-mobile device for the obstacle area according to the type ofthe obstacle area in combination with the relative size relationshipbetween the self-mobile device and the obstacle area comprises: if thetype of the obstacle area is an area to be traversed, calculating aheight and a width of a gap in the area to be traversed; and performingthe travel control on the self-mobile device for the area to betraversed according to a relationship between the height and the widthof the gap and a height of a body of the self-mobile device.